| 摘要 |
PROBLEM TO BE SOLVED: To provide a control device capable of appropriately estimating a steering shaft load in response to a sensor abnormality detection state.SOLUTION: Reliability arithmetic units 53, 63, and 73 of a control device 41 compute reliabilities C1, C2, and C3, respectively in response to an abnormality detection state for at least one of a current sensor 31, a torque sensor 32, and a rotational angle sensor 33. A steering shaft load estimation unit 81 estimates a steering shaft load Tx using an assist torque detection value Tm, a steering torque detection value Ts, and a column shaft angular velocity detection value ωc. In a period since an abnormality of the current sensor 31, the torque sensor 32 or the rotational angle sensor 33 has been detected until failure or normal return is determined, weighting to a value used for estimation of the steering shaft load Tx is changed in response to the corresponding reliabilities C1, C2, and C3 for the assist torque detection value Tm, the steering torque detection value Ts or the column shaft angular velocity detection value ωc corresponding to the sensor for which the abnormality has been detected.SELECTED DRAWING: Figure 1 |
